Online Replanning in Belief Space for Partially Observable Task and Motion Problems
Caelan Reed Garrett,Chris Paxton,Tomás Lozano-Pérez,Leslie Pack Kaelbling,Dieter Fox,Caelan Reed Garrett,Chris Paxton,Tomás Lozano-Pérez,Leslie Pack Kaelbling,Dieter Fox
To solve multi-step manipulation tasks in the real world, an autonomous robot must take actions to observe its environment and react to unexpected observations. This may require opening a drawer to observe its contents or moving an object out of the way to examine the space behind it. Upon receiving a new observation, the robot must update its belief about the world and compute a new plan of actio...
